1 citations · 3 across the 12 of their papers we have counts for
3 papers · 1 filter
Robust In-Hand Manipulation with Extrinsic Contacts
Boyuan Liang, Kei Ota, Masayoshi Tomizuka +1
We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously.…
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion
Boyuan Liang, Lingfeng Sun, Xinghao Zhu +6
In reinforcement learning for legged robot locomotion, crafting effective reward strategies is crucial. Pre-defined gait patterns and complex reward systems are widely used to stab…
In-Hand Following of Deformable Linear Objects Using Dexterous Fingers with Tactile Sensing
Mingrui Yu, Boyuan Liang, Xiang Zhang +6
Most research on deformable linear object (DLO) manipulation assumes rigid grasping. However, beyond rigid grasping and re-grasping, in-hand following is also an essential skill th…